Method and device for controlling robot
AssigneeKUKA Roboter GmbH
InventorsKenneth Stoddard, David Martin
Life of this patent
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Abstract
A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.
Claims18
A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprising the steps:
- a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values,
- b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while
- c) maintaining the originally prescribed or interpolated tool center point location values and
- d) maintaining the original prescribed or interpolated tool center point orientation values not ignored.
A method of carrying a load with at least two robots, such that an attachment of at least one robot to the load is via a universal joint.
A system for controlling a robot for use during an interpolation of a trajectory or motion to any prescribed position, being designed
- a) to ignore at least one of the three originally prescribed or interpolated tool center point orientation values,
- b) to find new tool center point orientation values that place the wrist center point of the robot closest to its base while
- c) maintaining the originally prescribed or interpolated tool center point location values and
- d) maintaining the original prescribed or interpolated tool center point orientation values not ignored.
A system of at least two robots, carrying a load, wherein an attachment of at least one robot to the load is via a universal joint.
Dependencies are inferred from the claim text.